CN108427779B - The optimum design method of cam and its curve, wave producer and harmonic wave speed reducing machine - Google Patents
The optimum design method of cam and its curve, wave producer and harmonic wave speed reducing machine Download PDFInfo
- Publication number
- CN108427779B CN108427779B CN201710082245.7A CN201710082245A CN108427779B CN 108427779 B CN108427779 B CN 108427779B CN 201710082245 A CN201710082245 A CN 201710082245A CN 108427779 B CN108427779 B CN 108427779B
- Authority
- CN
- China
- Prior art keywords
- cam
- curve
- reference line
- standard ellipse
- gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/17—Mechanical parametric or variational design
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H53/00—Cams ; Non-rotary cams; or cam-followers, e.g. rollers for gearing mechanisms
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H2057/0087—Computer aided design [CAD] specially adapted for gearing features ; Analysis of gear systems
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Geometry (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Theoretical Computer Science (AREA)
- Computational Mathematics (AREA)
- Mathematical Analysis (AREA)
- Mathematical Optimization (AREA)
- Pure & Applied Mathematics (AREA)
- Computer Hardware Design (AREA)
- Evolutionary Computation (AREA)
- Retarders (AREA)
- Gears, Cams (AREA)
Abstract
The invention discloses a kind of optimum design method of cam curve, the optimum design method of the cam curve includes: Step 1: defining the major and minor axis of cam curve；Step 2: building angular bisector；Step 3: building multiple groups standard ellipse reference line；Step 4: determining adjusting point；Step 5: curve is practiced Buddhism or Taoism.The present invention also provides the wave producer of a kind of cam that the optimum design method according to the cam curve is designed and the application cam, using the harmonic wave speed reducing machine of the wave producer.Method provided by the invention can the standard ellipse curve according to actual needs to existing cam be modified, the number of teeth that the cam designed engages flexbile gear and firm gear increases to 20%-30%, the requirement of intensity and precision can be taken into account, and the flexbile gear and firm gear engaged effectively improves the bearing capacity of harmonic wave speed reducing machine without interference.
Description
Technical field
The present invention relates to harmonic wave speed reducing machine technical fields, and in particular to the optimum design method of a kind of cam and its curve,
Wave producer and harmonic wave speed reducing machine.
Background technique
Harmonic wave speed reducing machine is a kind of deceleration mechanism that power is transmitted using flexible unit generation flexible deformation.Harmonic reduction
Machine can obtain biggish reduction ratio in the case where volume very little, and the load of unit area is small, so that its bearing capacity is more other
Transmission is high, and also have many advantages, such as small in size, light-weight, transmission efficiency is high, stable drive, without impacting.Therefore harmonic wave speed reducing machine
It is widely used in the precision drives field such as aerospace, medical machinery, robot, especially as the continuous development of science and technology, machine
People using more and more extensive, people also increasingly pay attention to design, the production of harmonic wave speed reducing machine.
Harmonic wave speed reducing machine is mainly made of three parts: the flexbile gear with external tooth, the firm gear with internal tooth and have length
The wave producer of short axle.Wave producer is the component for making deformation of flexible wheel be deformed wave, is the important member of harmonic wave speed reducing machine transmission
One of part, its structure type not only determine the stress of flexbile gear component, also determine the indicatrix of flexbile gear engagement.
There are many structures of wave producer, wherein it is most widely used with mechanical wave generator, in mechanical wave generator again
At most with the application of cam thin-wall bearing formula wave producer, cam thin-wall bearing formula wave producer majority uses standard ellipse curve structure
At cam, although standard ellipse curve constitute cam structure it is simple, easy to process, with people to harmonic wave speed reducing machine essence
The requirement of degree, bearing capacity, the cam that standard ellipse curve is constituted is not able to satisfy the requirement for carrying big torque, because standard is ellipse
When the cam work that circular curve is constituted, the flexbile gear number of teeth at a fully engaged with firm gear is few, can only achieve 10% or so, and single tooth is held
Loading capability is equally, then total bearing capacity is smaller, while also to will affect the meshing characteristic of flexbile gear and firm gear.
Summary of the invention
It is ellipse for solving existing standard the purpose of the present invention is to provide a kind of cam and its container optimum design method
The flexbile gear number of teeth at a fully engaged with firm gear is few so that total bearing capacity is small when the cam work that circular curve is constituted, cannot take into account intensity with
The problem of required precision.
To achieve the goals above, according to an aspect of the invention, there is provided a kind of optimization design side of cam curve
The optimum design method of method, the cam curve includes:
Step 1: defining the major and minor axis of cam curve:
Computer establishes CAD model by CAD system, and the CAD model includes firm gear for harmonic wave speed reducing machine, flexbile gear
And flexible bearing, the long axis of the flexbile gear defines the long axis of cam curve when with the firm gear and the at a fully engaged flexbile gear,
The short axle of cam curve is defined with the internal diameter of the flexible bearing, the CAD system is with the intersection point of the short axle and the long axis
For origin, the short axle is horizontal axis, and the long axis is that the longitudinal axis establishes rectangular coordinate system, and is done by the long axis and the short axle
First standard ellipse reference line out；
Step 2: building angular bisector:
It is in nibble within the scope of the tooth form to do well in the flexbile gear according to the meshing state of the firm gear and the flexbile gear, institute
The first quartile that CAD system is stated in the rectangular coordinate system makes the first modified line from the origin, and makes a plurality of angle equal part
The angle and first modified line that line is respectively formed the long axis and first modified line and short axle formation
Angle N equal part, wherein N is integer and 70 >=N >=20；
Wherein, described Step 2: building angular bisector include:
It is in nibble within the scope of the tooth form to do well in the flexbile gear according to the meshing state of the firm gear and the flexbile gear, institute
The first quartile that CAD system is stated in the rectangular coordinate system makes the first modified line from the origin；First modified line position
In the flexbile gear in nibbling within the scope of the tooth form to do well, the angle of first modified line and short axle formation is 40 ° -70 °；
The folder that the CAD system is formed the long axis and first modified line with the first equal part angle from the origin
Angle N equal part obtains the first angular bisector of N-1 item, wherein N is integer and 70 >=N >=20；
The folder that the CAD system is formed first modified line and the short axle with the second equal part angle from the origin
Angle N equal part obtains the second angular bisector of N-1 item, wherein N is integer and 70 >=N >=20；
Step 3: building multiple groups standard ellipse reference line:
The CAD system is using its offset functions from the first standard ellipse reference line equidistant offset n times outward, structure
Multiple groups standard ellipse reference line is built to N+1 standard ellipse reference line, a plurality of angular bisector and first modified line
Multiple intersection points are intersected at the multiple groups standard ellipse reference line respectively；Wherein, N is integer and 70 >=N >=20；
Step 4: determining adjusting point:
The CAD system determines that multiple adjusting points, the adjusting point include: the M articles angular bisector in the first quartile
With the intersection point of M+1 standard ellipse reference line, the intersection point of first modified line and the N+1 standard ellipse reference line, institute
The intersection point of long axis and the short axle respectively with the first standard ellipse reference line is stated, 2N+1 adjusting point is obtained, wherein M is
Integer and M=1,2 ... ..N-1；
Wherein, described Step 4: determine adjusting point include:
In the long axis to the section of first modified line, near the first angular bisector of the long axis for first
The first angular bisector of item, the CAD system is with the M articles first angular bisector in the section and M+1 standard ellipse reference line
Intersection point be m-th adjusting point, in the section determine N-1 adjusting point, wherein M be integer and M=1,2 ... ..N-1；
In the short axle to the section of first modified line, near the second angular bisector of the short axle for first
The second angular bisector of item, the CAD system is with the M articles second angular bisector in the section and M+1 standard ellipse reference line
Intersection point be the M+N-1 adjusting point, in the section determine N-1 adjusting point, wherein M be integer and M=1,2 ... ..N-
1；
The CAD system determines that the intersection point of first modified line and the N+1 standard ellipse reference line is 2N-1
A adjusting point；
The CAD system determines that the intersection point of the long axis and the first standard ellipse reference line is the 2N adjusting point；
The CAD system determines that the intersection point of the short axle and the first standard ellipse reference line is the 2N+1 amendment
Point；
In the first quartile, the CAD system determines 2N+1 adjusting point；
Step 5: curve is practiced Buddhism or Taoism:
The CAD system is fitted function using the 2N+1 adjusting point as control point using it, and fitting obtains the 2N+1
The first spline curve section between a adjusting point recycles its image feature that the first spline curve section is distinguished mirror image to institute
The second quadrant, the third quadrant to fourth quadrant for stating rectangular coordinate system, respectively obtain the second spline curve section, third spline curve
Section and the 4th spline curve section, the first spline curve section, the second spline curve section, the third spline curve section
And the 4th spline curve section connects into cam curve.
Preferably, the first equal part angle described in step 2 and the second equal part angle are 1 ° -2 °.
Preferably, the distance of the first standard ellipse reference line to the N+1 standard ellipse reference line described in step 3 is
Total drift distance, the total drift distance is 0.02-0.05 millimeters.
Preferably, the cam curve is non-standard elliptic curve.
According to the second aspect of the invention, it provides and is designed according to the optimum design method of above-mentioned any one cam curve
Cam out.
According to the third aspect of the present invention, a kind of wave producer is provided, the wave producer include above-mentioned cam and
Flexible bearing on the outer ring of the cam.
According to the fourth aspect of the present invention, a kind of harmonic wave speed reducing machine is provided comprising above-mentioned wave producer has external tooth
Flexbile gear and firm gear with internal tooth, the wave producer includes cam and the flexible shaft on the outer ring of the cam
It holds, the flexible bearing is placed in the flexbile gear, and the flexbile gear and the firm gear are coaxially disposed, and the wave producer rotation drives
The flexbile gear and the firm gear relatively rotate, and the internal tooth of the external tooth of the flexbile gear and the firm gear matches.
Compared with the prior art, optimum design method, wave producer and the harmonic wave of cam and its curve of the present invention
Speed reducer has the advantage that
Compared to the cam that existing standard ellipse is constituted, the cam designed by method provided by the invention is bent
Line is non-standard elliptic curve, can be designed according to the meshing state of actual flexbile gear and firm gear, is in nibble out shape in flexbile gear
The first modified line is set within the scope of the tooth form of state, after setting reasonable total drift distance, passes through a plurality of angular bisector and multiple groups
Standard ellipse reference line determines that multiple adjusting points, then curve are practiced Buddhism or Taoism, and cam curve uniformly outwardly protrudes, so that original is in nibble out shape
The flexbile gear external tooth of state approaches firm gear internal tooth, is converted to fully engaged state by nibbling to do well, so that flexbile gear and firm gear are at a fully engaged
The number of teeth increase to 20%~30% by 10%, effectively improve the bearing capacity of harmonic wave speed reducing machine, while the length of cam curve
Shaft end point is constant, so that the flexbile gear in the region and firm gear still keep fully engaged state, it is described when by the work of this cam curve
Flexbile gear and the firm gear are just without interference, thus the cam curve that the present invention designs more meets actual requirement of engineering, take into account strong
The requirement of degree and precision.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field
Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to the present invention
Limitation.In the accompanying drawings:
Fig. 1 shows a kind of structural schematic diagram of the harmonic wave speed reducing machine of preferred embodiment of the present invention；
Fig. 2 shows the step flow charts of the optimum design method of the curve of cam shown in Fig. 1；
Fig. 3 shows the angular bisector schematic diagram of cam curve shown in Fig. 2；
Fig. 4 shows the schematic diagram of the first spline curve section of cam curve shown in Fig. 2；
Fig. 5 shows the schematic diagram of cam curve shown in Fig. 2.
Detailed description of the invention
1- harmonic wave speed reducing machine, 11- wave producer,
111- cam, 112- flexible bearing,
12- flexbile gear, 13- firm gear.
Specific embodiment
The present invention provides many applicable creative concepts, which be can be reflected in a large number of on specific
Hereinafter.The specific embodiment described in following embodiments of the present invention is only used as a specific embodiment of the invention
Exemplary illustration, and be not meant to limit the scope of the invention.
Below with reference to specific embodiment, the invention will be further described.
As shown in Figure 1, the present invention provides a kind of harmonic wave speed reducing machine 1, the harmonic wave speed reducing machine 1 includes wave producer 11, tool
There are the flexbile gear 12 of external tooth and the firm gear 13 with internal tooth.The wave producer 11 is including cam 111 and is set to the cam
Flexible bearing 112 on 111 outer ring, the flexible bearing 112 are placed in the flexbile gear 12, the flexbile gear 12 and the firm gear
13 coaxial arrangements, the rotation of wave producer 11 drive the flexbile gear 12 and the firm gear 13 to relatively rotate, the flexbile gear 12
External tooth and the internal tooth of the firm gear 13 match (engagement).
Specifically, the flexible bearing 112 is different from plain bearing, it is ball bearing, its outer ring is very thin, is easy to produce
Radial deformation is circle in the internal diameter for being not loaded into 111 foregoing description flexible bearing 112 of cam, assembles with the cam 111
It is later ellipse.For the flexbile gear 12 not and before the wave producer 11 assembly, the internal diameter of the flexbile gear 12 is circle, assembly
Later, the flexbile gear 12 deforms, and becomes ellipse.
As the cam 111 of the wave producer 11 rotates, oval amoeboid movement is made in the outer ring of the flexible bearing 12,
The flexbile gear 12 deforms the ellipse for being formed and having major and minor axis, the deformed flexbile gear 12 under the action of wave producer 11
The external tooth in long axis region and the internal tooth of the firm gear 13 are in fully engaged state, i.e., the external tooth of the described flexbile gear 12 and the firm gear
13 internal tooth is engaged along tooth height, this is region of engagement；The external tooth of 12 minor axis regions of flexbile gear and the internal tooth of the firm gear 13 are in
Fully unmated state referred to as disengages；The external tooth of the flexbile gear 12 between the long axis and short axle of the wave producer 11, along institute
In the different sections for stating 12 perimeter of flexbile gear, some is gradually backed out the interior between cog of the firm gear 13, is in half disengaged condition, referred to as
It nibbles out.
When the wave producer 11 is active member, the cam 111 rotates in the flexbile gear 12, forces the flexbile gear
12 and the flexible bearing 112 controllable flexible deformation occurs, at this moment the external tooth of the flexbile gear 12 just during deformation into
Enter (engagement) or exit and (nibble out) internal tooth of the firm gear 13, the wave producer 11 long axis everywhere at a fully engaged shape
State, and the external tooth of the flexbile gear 12 is at fully unmated state at short axle.When work, when the wave producer 11 is by motor band
When moving the continuous rotation in the flexbile gear 12, the flexbile gear 12 is forced to generate continuous flexible deformation, is exactly the flexbile gear 12
External tooth pass through engaging-in-engagement-and nibble out-disengage these four cycle of states and be back and forth constantly changing respectively original meshing state,
This phenomenon is referred to as side set movement.It is moved just because of side set, the harmonic wave speed reducing machine 1 can become the high-speed rotation of input
Output slowly runs.
Therefore the structure type of the cam 111 of the wave producer 11 not only determines the stress of the flexbile gear 12,
Also determine the meshing characteristic of the flexbile gear 12 and the firm gear 13.
Embodiment 1
As shown in Fig. 2, the optimum design method of cam curve provided by the invention includes:
Step S1, the major and minor axis of cam curve is defined:
Computer establishes CAD model by CAD system, and the CAD model includes firm gear for harmonic wave speed reducing machine, flexbile gear
And flexible bearing, the long axis of the flexbile gear defines the long axis of cam curve when with the firm gear and the at a fully engaged flexbile gear,
The short axle of cam curve is defined with the internal diameter of the flexible bearing, the CAD system is with the intersection point of the short axle and the long axis
For origin, the short axle is horizontal axis, and the long axis is that the longitudinal axis establishes rectangular coordinate system, and is done by the long axis and the short axle
1st standard ellipse reference line out.
CAD (Computer Aided Design, CAD), which refers to, utilizes computer and its graphics device help
Designer is designed work, that is, utilizes computer technology, handles the design data in computer storage, and in display
Or a kind of method of design drawing is generated on plotter.Including two-dimensional graphics design, THREE DIMENSION GEOMETRIC MODELING design, finite element analysis
(FEA) and the contents such as optimization design, NC Machining Program (NCP), analogue simulation and product data management.
Specifically, in the pre-assembly, the internal diameter of the flexbile gear is circle, after assembly, the internal diameter of the flexbile gear is standard
Ellipse, the external tooth in the deformed major axis of flexspline region and the internal tooth of the firm gear are in fully engaged state, i.e., with described
The external tooth of flexbile gear when being engaged with the internal tooth of the firm gear along tooth height the long axis of the flexbile gear be defined as the long axis of the cam curve；
In the pre-assembly, the internal diameter of the flexible bearing is circle to the flexible bearing, with the internal diameter of the undeformed flexible bearing
It is defined as the short axle of the cam curve.
In the present embodiment, the long axis of the cam curve is 40.9250mm, and the short axle of the cam curve is
39.7563mm。
Step S2, angular bisector is constructed:
It is in nibble within the scope of the tooth form to do well in the flexbile gear according to the meshing state of the firm gear and the flexbile gear, institute
The first quartile that CAD system is stated in the rectangular coordinate system makes the first modified line from the origin, and makes a plurality of angle equal part
The angle and first modified line that line is respectively formed the long axis and first modified line and short axle formation
Angle N equal part, wherein N is integer and 70 >=N >=20.
Specifically, the step S2, building angular bisector include:
It is in nibble within the scope of the tooth form to do well in the flexbile gear according to the meshing state of the firm gear and the flexbile gear, institute
The first quartile that CAD system is stated in the rectangular coordinate system makes the first modified line from the origin.
First modified line is located at the flexbile gear in nibbling within the scope of the tooth form to do well, i.e., the external tooth of the described flexbile gear is moving back
Out between the internal tooth of the firm gear, it is in half disengaged condition.
In the present embodiment, the angle that first modified line and the short axle are formed is 45 °, in other embodiments,
The angle that first modified line and the short axle are formed is 40 ° -70 °, can be according to different model or different size of soft
Wheel and the engagement situation of firm gear are accordingly selected, if flexbile gear and firm gear it is at a fully engaged the number of teeth it is more, described first repairs
The angle that main track is formed with the short axle can be bigger than normal, if flexbile gear and firm gear it is at a fully engaged the number of teeth it is less, described first
The angle that modified line is formed with the short axle can be less than normal.
The folder that the CAD system is formed the long axis and first modified line with the first equal part angle from the origin
45 equal part of angle obtains 44 the first angular bisectors.
The folder that the CAD system is formed first modified line and the short axle with the second equal part angle from the origin
45 equal part of angle obtains 44 the second angular bisectors.
As shown in figure 3, in the present embodiment, N=45, the first equal part angle and the second equal part angle are
1 °, in other embodiments, the first equal part angle and the second equal part angle are 1 ° -2 °, N be integer and 70 >=N >=
20。
The angle and first modified line that the present invention forms the long axis and first modified line with it is described short
The angle that axis is formed carries out N equal part, and N value is bigger, then sub-multiple angle is smaller, and the radian variation for carrying out curve when curve is practiced Buddhism or Taoism is smaller,
Curvature varying more continuous uniform, more can gently excessively.Suitable equal part angle makes optimization of profile effect more preferable, while suitable
N value and equal part angle to guarantee working efficiency while optimization of profile.
Step S3, multiple groups standard ellipse reference line is constructed:
The CAD system is deviated 45 times using its offset functions from the 1st standard ellipse reference line is equidistant outward, structure
Multiple groups standard ellipse reference line is built to the 46th standard ellipse reference line, a plurality of angular bisector and first modified line point
Multiple intersection points are not intersected at the multiple groups standard ellipse reference line.
In the present embodiment, N=45, in other embodiments, N are integer and 70 >=N >=20.
The offset functions of the CAD system: inwardly or outside equidistantly zooms in or out duplication according to former object outline line
One similar fitgures, migration result keep shape similar to former object, precisely flexibly.
The distance of the 1st standard ellipse reference line to the 46th standard ellipse reference line is total drift distance, described
Total drift distance is 0.02-0.05 millimeters.In the present embodiment, the total drift distance is 0.0450mm.The total drift away from
It being determined from according to the firm gear and the meshing state of the flexbile gear, total drift distance determines the amplitude of practicing Buddhism or Taoism of cam curve,
Total drift distance makes more greatly the flexbile gear more approach the firm gear, and the number of teeth of engagement is more, and reasonable total drift distance makes
The flexbile gear does not interfere while approaching the firm gear.
Step S4, adjusting point is determined:
The CAD system determines that multiple adjusting points, the adjusting point include: the M articles angular bisector in the first quartile
With the intersection point, described of the intersection point of M+1 standard ellipse reference line, first modified line and the 46th standard ellipse reference line
Long axis and the short axle intersection point with the 1st standard ellipse reference line respectively, obtain 91 adjusting points, wherein M be integer and
M=1,2 ... ..44；
Specifically, the step S4, determining that adjusting point includes:
In the long axis to the section of first modified line, near the first angular bisector of the long axis for first
The first angular bisector of item, the CAD system is with the M articles first angular bisector in the section and M+1 standard ellipse reference line
Intersection point be m-th adjusting point, in the section determine 44 adjusting points, wherein M be integer and M=1,2 ... ..44；
Specifically, the intersection point of the 1st article of the first angular bisector and the 2nd standard ellipse reference line is the 1st amendment in the section
The intersection point of point, the 2nd article of the first angular bisector and the 3rd standard ellipse reference line is the 2nd adjusting point, the 3rd article of the first angular bisector
Intersection point with the 4th standard ellipse reference line is the 3rd adjusting point, and so on, the 44th article of the first angular bisector and the 45th standard
The intersection point of oval reference line is the 44th adjusting point.
In the short axle to the section of first modified line, near the second angular bisector of the short axle for first
The second angular bisector of item, the CAD system is with the M articles second angular bisector in the section and M+1 standard ellipse reference line
Intersection point be the M+N-1 adjusting point, in the section determine 44 adjusting points, wherein M be integer and M=1,2 ... ..44；
Specifically, the intersection point of the 1st article of the second angular bisector and the 2nd standard ellipse reference line is the 45th amendment in the section
The intersection point of point, the 2nd article of the second angular bisector and the 3rd standard ellipse reference line is the 46th adjusting point, the 3rd article of the second angular bisector
Intersection point with the 4th standard ellipse reference line is the 47th adjusting point, and so on, the 44th article of the second angular bisector and the 45th standard
The intersection point of oval reference line is the 88th adjusting point.
The CAD system determines that the intersection point of first modified line and the 46th standard ellipse reference line is repaired for the 89th
On schedule；
The CAD system determines that the intersection point of the long axis and the 1st standard ellipse reference line described in step S1 is repaired for the 90th
On schedule, i.e., the endpoint of the described long axis；
The CAD system determines that the intersection point of the short axle and the 1st standard ellipse reference line described in step S1 is repaired for the 91st
On schedule, i.e., the endpoint of the described short axle；
In the first quartile, the CAD system determines 91 adjusting points.
The present invention, which is replaced by the M articles angular bisector with the intersection point of M+1 standard ellipse reference line for m-th adjusting point, to be taken
Point, obtains the adjusting point of multiple continuous uniform outwardly convexs, and the amplitude of variation of adjusting point is small；Simultaneously with the long axis and described short
The endpoint of axis is adjusting point, ensure that long axis region flexbile gear and firm gear still in fully engaged state.
Step S5, curve is practiced Buddhism or Taoism:
As shown in Figures 4 and 5, the CAD system is fitted function using 91 adjusting points as control point using it, is fitted
The first spline curve section between 91 adjusting points is obtained, the CAD system utilizes its image feature by first sample
Second quadrant, third quadrant to fourth quadrant of the curved section difference mirror image to the rectangular coordinate system, respectively obtain the second sample
Article curved section, third spline curve section and the 4th spline curve section, the first spline curve section, second spline curve
Section, the third spline curve section and the 4th spline curve section connect into cam curve.
The fitting function of the CAD system: 3 ranks (three times) is created by the match point for specifying spline curve to have to pass through
B-spline curves, spline curve are more smooth.
Spline curve (Spline Curves) refers to a smooth curve obtained from given one group of control point, has and connects
The feature continuous, Curvature varying is uniform.The general shape of spline curve is controlled by these points, generally can be divided into interpolating spline
With approach two kinds of batten, interpolating spline is drawn commonly used in digitlization or the design of animation, approaches batten and is generally used to structure
The surface of body.Spline curve is that the smooth parametric curve section for approaching controlling polygon by one group is constituted, these curved sections are exactly sample
Curved section generally uses B-spline curves.
B-spline curves are the piecewise polynomial curves with n times B-spline basic function instead of Bornstein basic function, can
Free type curve and surface energy Precise Representation conic arc and quadric mathematical method again are described, with piecewise polynomial curve
Data point is defined, constructs multiple curve come inverse curve controlled vertex, then by vertex by the arrow of cutting at data point and first and last endpoint,
Final repeatedly fitting obtains smooth curve.
The image feature of the CAD system: the figure made and the object selected are about selected mirror image axis
Symmetrically, it improves work efficiency.
Compared to the cam that existing standard ellipse is constituted, the cam designed by method provided by the invention is bent
Line is non-standard elliptic curve, can be designed according to the meshing state of actual flexbile gear and firm gear, be in flexbile gear and firm gear
The first modified line of setting within the scope of the tooth form to do well is nibbled, after setting reasonable total drift distance, passes through a plurality of angular bisector
Determine that multiple adjusting points, then curve are practiced Buddhism or Taoism with multiple groups standard ellipse reference line, cam curve uniformly outwardly protrudes, so that original be in
It nibbles the flexbile gear to do well and approaches firm gear, be converted to by nibbling to do well in fully engaged state, so that flexbile gear and firm gear are at a fully engaged
The number of teeth increase to 20%~30% by 10%, effectively improve the bearing capacity of harmonic wave speed reducing machine, while the length of cam curve
Shaft end point is constant, so that the flexbile gear in the region and firm gear still keep fully engaged state, it is described when by the work of this cam curve
Flexbile gear and the firm gear are just without interference, thus the cam curve that the present invention designs more meets actual requirement of engineering, take into account strong
The requirement of degree and precision.
Method provided by the invention can be practiced Buddhism or Taoism and be designed by the softwares such as UG, design of gears, CAXA, AutoCAD.
In the present embodiment, CAXA software is utilized in the method.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and this
Field technical staff can be designed alternative embodiment without departing from the scope of the appended claims.In claim
In, any reference symbol between parentheses should not be configured to limitations on claims.Word "comprising" is not excluded for depositing
In element or step not listed in the claims.
Claims (7)
1. a kind of optimum design method of cam curve, which is characterized in that the optimum design method of the cam curve includes:
Step 1: defining the major and minor axis of cam curve:
Computer establishes CAD model by CAD system, the CAD model include the firm gear for harmonic wave speed reducing machine, flexbile gear and
Flexible bearing, the long axis of the flexbile gear defines the long axis of cam curve when with the firm gear and the at a fully engaged flexbile gear, with institute
The internal diameter for stating flexible bearing defines the short axle of cam curve, and the CAD system is original with the intersection point of the short axle and the long axis
Point, the short axle are horizontal axis, and the long axis is that the longitudinal axis establishes rectangular coordinate system, and make the by the long axis and the short axle
One standard ellipse reference line；
Step 2: building angular bisector:
It is in nibble within the scope of the tooth form to do well in the flexbile gear according to the meshing state of the firm gear and the flexbile gear, the CAD
System makes the first modified line from the origin in the first quartile of the rectangular coordinate system, and makes a plurality of angular bisector difference
By angle and first modified line that the long axis and first modified line are formed and the angle N that the short axle is formed
Equal part, wherein N is integer and 70 >=N >=20；
Wherein, described Step 2: building angular bisector include:
It is in nibble within the scope of the tooth form to do well in the flexbile gear according to the meshing state of the firm gear and the flexbile gear, the CAD
System makes the first modified line from the origin in the first quartile of the rectangular coordinate system, first modified line with it is described short
The angle that axis is formed is 40 ° -70 °；
The angle N that the CAD system is formed the long axis and first modified line with the first equal part angle from the origin
Equal part obtains the first angular bisector of N-1 item, wherein N is integer and 70 >=N >=20；
The angle N that the CAD system is formed first modified line and the short axle with the second equal part angle from the origin
Equal part obtains the second angular bisector of N-1 item, wherein N is integer and 70 >=N >=20；
Step 3: building multiple groups standard ellipse reference line:
From the first standard ellipse reference line, equidistant offset n times, building are more outward using its offset functions for the CAD system
Group standard ellipse reference line to N+1 standard ellipse reference line, a plurality of angular bisector and first modified line is distinguished
Multiple intersection points are intersected at the multiple groups standard ellipse reference line；Wherein, N is integer and 70 >=N >=20；
Step 4: determining adjusting point:
The CAD system determines that multiple adjusting points, the adjusting point include: M articles of angular bisector and M in the first quartile
Intersection point, the long axis of the intersection point of+1 standard ellipse reference line, first modified line and the N+1 standard ellipse reference line
With the short axle intersection point with the first standard ellipse reference line respectively, 2N+1 adjusting point is obtained, wherein M is integer and M
=1,2 ... ..N-1；
Wherein, described Step 4: determine adjusting point include:
In the long axis to the section of first modified line, to be first article the near the first angular bisector of the long axis
One angular bisector, the CAD system is with the intersection point of the M articles first angular bisector and M+1 standard ellipse reference line in the section
For m-th adjusting point, N-1 adjusting point is determined in the section, wherein M is integer and M=1,2 ... ..N-1；
In the short axle to the section of first modified line, to be first article the near the second angular bisector of the short axle
Two angular bisectors, the CAD system is with the intersection point of the M articles second angular bisector and M+1 standard ellipse reference line in the section
For the M+N-1 adjusting point, N-1 adjusting point is determined in the section, wherein M is integer and M=1,2 ... ..N-1；
The CAD system determines that the intersection point of first modified line and the N+1 standard ellipse reference line is repaired for 2N-1
On schedule；
The CAD system determines that the intersection point of the long axis and the first standard ellipse reference line is the 2N adjusting point；
The CAD system determines that the intersection point of the short axle and the first standard ellipse reference line is the 2N+1 adjusting point；
In the first quartile, the CAD system determines 2N+1 adjusting point；
Step 5: curve is practiced Buddhism or Taoism:
The CAD system is fitted function using the 2N+1 adjusting point as control point using it, and fitting obtains the 2N+1 and repairs
The first spline curve section between on schedule recycles its image feature that the first spline curve section is distinguished mirror image to described straight
The second quadrant, the third quadrant to fourth quadrant of angular coordinate system, respectively obtain the second spline curve section, third spline curve section with
And the 4th spline curve section, the first spline curve section, the second spline curve section, the third spline curve section and
The 4th spline curve section connects into cam curve.
2. the optimum design method of cam curve according to claim 1, which is characterized in that first etc. described in step 2
Subangle and the second equal part angle are 1 ° -2 °.
3. the optimum design method of cam curve according to claim 1, which is characterized in that the first standard described in step 3
The distance of oval reference line to the N+1 standard ellipse reference line is total drift distance, and the total drift distance is 0.02-
0.05 millimeter.
4. the optimum design method of cam curve according to claim 1, which is characterized in that the cam curve is nonstandard
Quasi- elliptic curve.
5. a kind of cam that the optimum design method of any one of -4 cam curves according to claim 1 is designed.
6. a kind of wave producer, which is characterized in that the wave producer include cam described in claim 5 and be set to institute
State the flexible bearing on the outer ring of cam.
7. a kind of harmonic wave speed reducing machine, which is characterized in that it includes wave producer as claimed in claim 6, the flexbile gear with external tooth
And the firm gear with internal tooth, the wave producer include cam and the flexible bearing on the outer ring of the cam, institute
It states flexible bearing to be placed in the flexbile gear, the flexbile gear and the firm gear are coaxially disposed, described in the wave producer rotation drive
Flexbile gear and the firm gear relatively rotate, and the internal tooth of the external tooth of the flexbile gear and the firm gear matches.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710082245.7A CN108427779B (en) | 2017-02-15 | 2017-02-15 | The optimum design method of cam and its curve, wave producer and harmonic wave speed reducing machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710082245.7A CN108427779B (en) | 2017-02-15 | 2017-02-15 | The optimum design method of cam and its curve, wave producer and harmonic wave speed reducing machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108427779A CN108427779A (en) | 2018-08-21 |
| CN108427779B true CN108427779B (en) | 2019-07-09 |
Family
ID=63155565
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710082245.7A Active CN108427779B (en) | 2017-02-15 | 2017-02-15 | The optimum design method of cam and its curve, wave producer and harmonic wave speed reducing machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108427779B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109977521B (en) * | 2019-03-20 | 2023-02-03 | 江苏科技大学 | Design method for outer contour of harmonic reducer wave generator |
| CN110222354B (en) * | 2019-03-29 | 2023-01-03 | 深圳市同川科技有限公司 | Wave generator cam design method, wave generator and harmonic reducer |
| CN110160763B (en) * | 2019-05-31 | 2020-11-17 | 西安工业大学 | Method for measuring working performance of wave generator |
| CN110259912B (en) * | 2019-06-25 | 2020-09-29 | 珠海格力电器股份有限公司 | Wave generator, harmonic reducer and transmission system |
| CN111120622B (en) * | 2020-01-14 | 2022-02-11 | 湖北科峰智能传动股份有限公司 | Modified wave cam and design method thereof, wave generator and wave reducer |
| CN111810608B (en) * | 2020-06-05 | 2023-05-09 | 金齿传动科技(大连)有限公司 | Tooth form design method for harmonic gear with continuous meshing tooth form |
| CN115325133A (en) * | 2022-08-29 | 2022-11-11 | 珠海格力电器股份有限公司 | Cam for harmonic reducer and harmonic reducer |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102286850A (en) * | 2011-08-12 | 2011-12-21 | 常熟理工学院 | Elliptical-track needling mechanism |
| CN102518756A (en) * | 2011-12-23 | 2012-06-27 | 重庆大学 | Compound transmission face gear pair with transmission ratio variable |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100719491B1 (en) * | 2006-03-24 | 2007-05-18 | 대한소결금속 주식회사 | Design method of tooth profile for internal gear type pump |
| CN100346091C (en) * | 2006-04-12 | 2007-10-31 | 北京市克美谐波传动精密机械公司 | Three-dimensional harmonic wave gear with involute tooth outline |
| DE112013004179B4 (en) * | 2013-07-10 | 2024-02-29 | Harmonic Drive Systems Inc. | Wave generator and deformation wave gear |
| CN103453078B (en) * | 2013-09-06 | 2015-09-09 | 上海鑫君传动科技有限公司 | A kind of harmonic wave speed reducing machine of novel wave-generator |
| WO2015075781A1 (en) * | 2013-11-19 | 2015-05-28 | 株式会社ハーモニック・ドライブ・システムズ | Strain wave gear device, friction engagement type strain wave device, and wave generator |
-
2017
- 2017-02-15 CN CN201710082245.7A patent/CN108427779B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102286850A (en) * | 2011-08-12 | 2011-12-21 | 常熟理工学院 | Elliptical-track needling mechanism |
| CN102518756A (en) * | 2011-12-23 | 2012-06-27 | 重庆大学 | Compound transmission face gear pair with transmission ratio variable |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108427779A (en) | 2018-08-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108427779B (en) | The optimum design method of cam and its curve, wave producer and harmonic wave speed reducing machine | |
| Liu et al. | Kinematics analysis of the roller screw based on the accuracy of meshing point calculation | |
| WO2017024749A1 (en) | Line gear mechanism having variable transmission ratio | |
| CN111120622B (en) | Modified wave cam and design method thereof, wave generator and wave reducer | |
| CN104500654B (en) | One kind subtracts the integrated face gear pair of speed change and its processing method | |
| Chen et al. | A study on geometry design of spiral bevel gears based on conjugate curves | |
| Tan et al. | Study on spatial curve meshing and its application for logarithmic spiral bevel gears | |
| Yao et al. | Mathematical modeling and simulation of the external and internal double circular-arc spiral bevel gears for the nutation drive | |
| Chen et al. | Manufacturing and contact characteristics analysis of internal straight beveloid gear pair | |
| Figliolini et al. | Synthesis of the pitch cones of N-lobed elliptical bevel gears | |
| Shih | Mathematical model for face-hobbed straight bevel gears | |
| Liu et al. | Design of a noncircular gear mechanism with twice unequal amplitude transmission ratio | |
| Dudás et al. | Development of spiroid worm gear drive having arched profile in axial section and a new technology of spiroid worm manufacturing with lathe center displacement | |
| Han et al. | Linkage model and interpolation analysis of helical non-circular gear hobbing | |
| Yang | A rack-cutter surface used to generate a spherical gear with discrete ring-involute teeth | |
| Abadjieva et al. | On the Synthesis of Hyperboloid Gear Drives and Technical Application | |
| CN102262697A (en) | Modeling method for helical bevel gear | |
| Yang | Using an imaginary planar rack cutter to create a spherical gear pair with continue involute teeth | |
| Lin et al. | Design, generation and tooth width analysis of helical curve-face gear | |
| Nachimowicz et al. | Modelling the meshing of cycloidal gears | |
| Chen et al. | Geometric constraints and interference-proof conditions of helix-curve meshing-wheel mechanism | |
| Wu et al. | The aeronautics face-gear NC hobbing machining technology | |
| Xu et al. | Design and manufacture method of aviation face gear with high load-bearing based on gear skiving process | |
| Zeng | Worm gear transmission geometry calculation and its strength analysis | |
| Hu et al. | Elliptical gears parametric design and motion simulation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 438000 No. 9 Grain Avenue, Huangzhou District, Huanggang City, Hubei Province Patentee after: Hubei Kefeng intelligent transmission Co., Ltd Address before: 438000 No. 9 COFCO Avenue, Huanggang Industrial Park, Wuhan Economic Development Zone, Hubei, Huanggang Patentee before: HUBEI KOFON TRANSMISSION EQUIPMENT Co.,Ltd. |